Intelligent management and charging method for multiple AGVs in the system

Abstract

The present invention provides a method for intelligently managing charging of multiple AGVs in a system, including: reading all charging strategies; determining the charging strategy adopted by the AGV device; sorting the AGV devices adopting the same charging strategy from low to high according to the power to form a power sorting set En; screening out AGV devices that are not loaded with charging tasks; screening out AGV devices that meet the charging conditions; judging whether the charging device allows the AGV devices that meet the charging conditions to enter, if allowed, controlling the AGV devices that meet the charging conditions to enter the charging device for charging, otherwise, ending the judgment. Compared with the prior art, the method for intelligently managing charging of multiple AGVs in a system of the present invention integrates multiple charging strategies in the system to avoid confusion in the charging management in the system.

Description

Technical Field

[0001] The present invention relates to the field of AGV device charging management methods, and in particular to an intelligent management charging method for multiple AGVs in a system. Background Art

[0002] A large number of AGV devices are running in existing intelligent production scenarios. In order to achieve 24-hour unattended continuous operation of AGV devices, it is necessary to set charging strategies for AGV devices to implement charging control so that AGV devices can automatically perform charging tasks when they are in a specific state. As the complexity of operations in intelligent production scenarios increases, the number and types of AGV devices used in intelligent production scenarios are also gradually increasing, which brings about the following problems: (1) The charging strategies adopted by the same AGV devices for different operating purposes are different; (2) The charging strategies adopted by different types of AGV devices are also different. Due to the implementation of multiple charging strategies in the system, the charging management of AGV equipment is chaotic. Multiple AGV devices under different charging strategies move to the charging position to wait for charging, which reduces the charging efficiency of the system. Therefore, there is an urgent need for an intelligent management charging method that can integrate multiple charging strategies in the system. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an intelligent management charging method for multiple AGVs in a system, so as to integrate multiple charging strategies in the system and avoid confusion in charging management in the system.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The intelligent management charging method of multiple AGVs in the system includes the following steps:

[0006] Read all charging strategies in the system;

[0007] Determine the charging strategy adopted by all AGV devices in the system;

[0008] Query n charging strategies in turn, and sort the AGV devices using the same charging strategy from low to high according to the power to form a power sorting set En, where n represents the number of the charging strategy;

[0009] For all AGV devices in the n power sorting set En, determine in turn whether the AGV devices have loaded the charging task, and filter out the AGV devices that have not loaded the charging task;

[0010] The charging conditions of the AGV devices that have not been loaded with charging tasks are judged, and the AGV devices that meet the charging conditions are selected;

[0011] Determine whether the charging device allows the AGV equipment that meets the charging conditions to enter. If allowed, control the AGV equipment that meets the charging conditions to enter the charging device for charging. Otherwise, end the determination.

[0012] Compared with the prior art, the intelligent management charging method of multiple AGVs in a system of the present invention has the following beneficial effects:

[0013] (1) In the present invention, all charging strategies and AGV devices that adopt corresponding charging strategies are first obtained, and then, according to whether the AGV device is assigned a charging task (AGV devices that adopt corresponding charging strategies will be assigned a charging task when the preset charging value of the charging strategy is triggered, so some AGV devices may be assigned a charging task during the periodic operation of this method. For AGV devices that have been assigned a charging task, in order to avoid affecting the current operating status of these AGV devices, they need to be processed separately), the AGV devices that have not been assigned a charging task are screened out, and then the charging arrangements for these AGV devices that have not been assigned a charging task are uniformly made, thereby taking into account the existence of multiple types of AGVs and multiple charging strategies in the system, integrating the multiple charging strategies in the system, and managing all AGV devices that have not been assigned a charging task under different charging strategies, avoiding confusion in the charging management in the system, improving the operating efficiency of the system, and having a wider applicability;

[0014] (2) In the method of the present invention, AGV devices that adopt the same charging strategy are sorted, and all AGV devices are judged whether they meet the charging conditions, so that the charging conditions of AGV devices with low power are judged first when they can be charged, thereby avoiding the AGV devices with low power stopping working and delaying the execution of tasks, thereby reducing work efficiency.

[0015] Preferably, the step of determining whether the charging device allows an AGV device that meets the charging conditions to enter is:

[0016] (a1) Determine whether there is an empty space in the charging device. If so, add a charging task to the AGV device that meets the charging conditions, and the AGV device enters the charging device for charging; otherwise, enter step (a2);

[0017] (a2) determining whether the power level of the AGV device that meets the charging conditions is lower than a preset minimum power level. If so, proceed to step (a3); otherwise, terminate the determination.

[0018] (a3) Determine whether there is an AGV device in the charging device that can complete the charging task. If so, add a charging task to the AGV device that meets the charging conditions; otherwise, end the determination.

[0019] In the above steps, it is determined in sequence whether the AGV equipment that meets the charging conditions can enter the charging device in accordance with whether there is a vacant space in the charging device, whether the power of the AGV equipment is lower than the preset minimum power value, and whether there is an AGV equipment that can end the charging task in the charging device, so as to avoid the AGV equipment that meets the charging conditions being assigned a charging task when there is no vacant space in the charging device or the power is lower than the preset minimum power value, resulting in a reduction in the execution progress of the transportation task, and adding "determining whether there is an AGV equipment that can end the charging task in the charging device" (AGV equipment that is being charged, shares the same charging point interface as the AGV equipment to be charged, has the highest power among those being charged, has enough power to meet normal operation, and can interrupt the charging task), and gives its charging point to the AGV equipment that is in urgent need of charging, so that the AGV equipment that meets the charging conditions and needs to be charged can be arranged in advance, effectively shortening the waiting time of the AGV equipment that meets the charging conditions, and preventing the AGV equipment that meets the charging conditions from shutting down due to low power.

[0020] Preferably, in step (a3), if it is determined that there is an AGV device in the charging device that can end the charging task, a charging task end instruction is sent to the AGV device that can end the charging task.

[0021] For AGV devices that are being charged and whose power level has reached a level that allows normal operation, the charging task can be canceled (the AGV device only needs to be charged to a power level that allows normal operation, and does not need to be fully charged), leaving the AGV device in an idle state so that it can execute the waiting task.

[0022] Preferably, if it is determined that there is an AGV device in the charging device that can complete the charging task, it is sorted from high to low according to the power value to form a set K, and the scheduling system task query is performed on the AGV devices in set K in turn to query whether the scheduling system currently has a pending task that is specified for the AGV device to execute, or to query the scheduling system whether there is a pending task that is not specified for AGV device to execute but the AGV model required for the task is consistent with the type of AGV device. If so, a charging task end instruction is sent to the corresponding AGV device, otherwise, the above judgment is performed on the next AGV device in set K.

[0023] Since the power value of the AGV equipment that can complete the charging task has reached the level for normal operation, after sorting the AGV equipment that can complete the charging task according to the power value, the AGV equipment with relatively higher power value among the same type of AGVs being charged can be given priority to execute whether the scheduling system currently has pending tasks designated for the AGV equipment to execute, or query the scheduling system whether there are currently pending tasks that are not designated for AGV equipment to execute but the AGV model required for the task is consistent with the AGV equipment type, thereby improving production efficiency.

[0024] Preferably, the charging condition determination steps are:

[0025] Determine whether the AGV device is lower than a preset charging power value. If so, determine that the AGV device meets the charging conditions. Otherwise, end the determination.

[0026] Preferably, the steps for determining whether the AGV device has loaded the charging task are:

[0027] Determine whether the AGV device has added a charging task. If not, mark the AGV device as an AGV device that has not loaded a charging task. If so, send an end charging instruction or end judgment to the AGV device.

[0028] Preferably, if it is determined that the AGV device has added a charging task;

[0029] (b1) determining whether the power level of the AGV device is higher than a preset minimum power level. If so, proceed to step (b2); otherwise, terminate the determination.

[0030] (b2) Determine whether the AGV has a minimum charging time requirement. If not, proceed to step (b3). If yes, calculate the expected charging time t of the AGV and determine whether the expected charging time t is greater than the minimum charging time. If not, end the determination. Otherwise, proceed to step (b3).

[0031] (b3) determining whether the AGV has a task, if not, proceeding to step (b4), if yes, sending a charge end instruction to the AGV device;

[0032] (b4) determining whether there is a task to be assigned in the scheduling system, if so, proceeding to step (b5), otherwise, ending the determination;

[0033] (b5) Determine whether the AGV is consistent with the AGV device type required to execute the task to be assigned in the scheduling system. If so, send a charge end instruction to the AGV device; otherwise, end the determination.

[0034] The beneficial effects of the above steps are:

[0035] (1) Because some AGV devices may be assigned charging tasks during the periodic operation of this method, it is necessary to consider whether the AGV devices that have been assigned charging tasks can continue to perform the charging tasks. For AGV devices that do not need to continue to perform charging tasks, the system sends a charging end instruction to cancel their charging tasks, so that they can be classified as AGV devices that have not been assigned charging tasks for subsequent management;

[0036] (2) In (b1) of this process, AGV devices with power lower than the preset minimum power value can continue to perform the charging task; since the charging of AGV devices will take some time, and one charging point can only add one charging task (charging one AGV device), when considering whether the AGV device needs to continue to perform the charging task, it is necessary to consider the minimum charging time requirement of the AGV. In (b2) of this process, it is determined whether the estimated charging time t of the AGV device is greater than the shortest charging time. The estimated charging time t is not greater than (less than or equal to) the shortest charging time (the estimated charging time t can be charged to the preset value). AGV devices with a fixed power level (a certain amount of power) can continue to perform charging tasks. The setting of the estimated charging time t prevents the charging task from being interrupted after the AGV device receives a transportation task after the charging task is sent, thereby increasing the time for empty travel to the charging point. In order to prevent the AGV device from delaying the execution of other transportation tasks due to the execution of the charging task (the execution level of the charging task is higher than that of the transportation task), in (b3) to (b5) of this process, for AGV devices whose energy value has not reached the preset minimum power value, they are allowed to continue to perform the transportation task first, so that the power of the AGV device remains stable while being able to adjust according to the current task volume.

[0037] Preferably, for the case where the AGV equipment is limited to be adapted to a specified type of charging device;

[0038] Determine whether the charging device allows the AGV equipment that meets the charging conditions to enter. If not, end the judgment; if allowed, determine whether the charging device allowed to enter is consistent with the specified type of charging device that the AGV equipment is limited to adapt to. If they are consistent, control the AGV equipment that meets the charging conditions to enter the charging device for charging, otherwise, end the judgment.

[0039] Due to the differences in the specifications of the charging interfaces and / or charging devices of different models of AGV equipment, some AGV equipment can only be adapted to specified types of charging devices (fixed charging points). Therefore, on the basis of "determining whether the charging device allows AGV equipment that meets the charging conditions to enter", it is necessary to additionally consider "determining whether the charging device allowed to enter is consistent with the specified type of charging device that the AGV equipment is limited to adapt to". When the charging device allowed to enter is consistent with the specified type of charging device that the AGV equipment is limited to adapt to, the AGV equipment that is limited to adapt to the specified type of charging device can perform the charging task.

[0040] Preferably, if it is determined that the charging device allows AGV equipment that meets the charging conditions to enter, the scheduling system dispatches a charging task to the AGV equipment that meets the charging conditions.

[0041] Preferably, when an AGV device that meets the charging conditions does not receive a new task request after completing a transportation task for h seconds, the scheduling system dispatches a charging task to the AGV device that meets the charging conditions, where 0<h≤600.

[0042] The above setting method can prevent the AGV equipment from being assigned to perform charging tasks too quickly when there are continuous tasks in the scheduling system, resulting in the inability to continuously execute the transportation task. As a result, the AGV equipment that is closest to the transportation task execution point is sent to charge, and another AGV equipment needs to be dispatched to perform the transportation task, affecting the execution efficiency of the task. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a flow chart of Embodiment 1;

[0044] Figure 2 It is a flow chart of embodiment 3. DETAILED DESCRIPTION

[0045] The following describes the embodiments of the present invention in conjunction with the accompanying drawings:

[0046] Embodiment 1

[0047] See also Figure 1 The intelligent management charging method of multiple AGVs in the system of this embodiment includes the following steps:

[0048] Read all charging strategies in the system (n charging strategies);

[0049] Determine the charging strategy adopted by all AGV devices in the system;

[0050] Query n charging strategies in turn, and sort the AGV devices using the same charging strategy from low to high according to the power to form a power sorting set En, where n represents the number of the charging strategy;

[0051] For all AGV devices in the n power sorting set En, determine in turn whether the AGV devices have loaded the charging task, and filter out the AGV devices that have not loaded the charging task;

[0052] The charging conditions of the AGV devices that have not been loaded with charging tasks are judged, and the AGV devices that meet the charging conditions are selected;

[0053] Determine whether the charging device allows the AGV equipment that meets the charging conditions to enter. If allowed, control the AGV equipment that meets the charging conditions to enter the charging device for charging. Otherwise, end the determination.

[0054] Preferably, the step of determining whether the charging device allows an AGV device that meets the charging conditions to enter is:

[0055] (a1) Determine whether there is an empty space in the charging device. If so, add a charging task to the AGV device that meets the charging conditions, and the AGV device enters the charging device for charging; otherwise, enter step (a2);

[0056] (a2) determining whether the power level of the AGV device that meets the charging conditions is lower than a preset minimum power level. If so, proceed to step (a3); otherwise, terminate the determination.

[0057] (a3) Determine whether there is an AGV device in the charging device that can complete the charging task. If so, add a charging task to the AGV device that meets the charging conditions; otherwise, end the determination.

[0058] In the above steps, it is determined in sequence whether the AGV equipment that meets the charging conditions can enter the charging device in accordance with whether there is a vacant space in the charging device, whether the power of the AGV equipment is lower than the preset minimum power value, and whether there is an AGV equipment that can end the charging task in the charging device, so as to avoid the AGV equipment that meets the charging conditions being assigned a charging task when there is no vacant space in the charging device or the power is lower than the preset minimum power value, resulting in a reduction in the execution progress of the transportation task, and adding "determining whether there is an AGV equipment that can end the charging task in the charging device" (AGV equipment that is being charged, shares the same charging point interface as the AGV equipment to be charged, has the highest power among those being charged, has enough power to meet normal operation, and can interrupt the charging task), and gives its charging point to the AGV equipment that is in urgent need of charging, so that the AGV equipment that meets the charging conditions and needs to be charged can be arranged in advance, effectively shortening the waiting time of the AGV equipment that meets the charging conditions, and preventing the AGV equipment that meets the charging conditions from shutting down due to low power.

[0059] Preferably, in step (a3), if it is determined that there is an AGV device in the charging device that can end the charging task, a charging task end instruction is sent to the AGV device that can end the charging task.

[0060] For AGV devices that are being charged and whose power level has reached a level that allows normal operation, the charging task can be canceled (the AGV device only needs to be charged to a power level that allows normal operation, and does not need to be fully charged), leaving the AGV device in an idle state so that it can execute the waiting task.

[0061] Preferably, the charging condition determination steps are:

[0062] Determine whether the AGV device is lower than a preset charging power value. If so, determine that the AGV device meets the charging conditions. Otherwise, end the determination.

[0063] Preferably, the steps for determining whether the AGV device has loaded the charging task are:

[0064] Determine whether the AGV device has added a charging task. If not, mark the AGV device as an AGV device that has not loaded a charging task. If so, send an end charging instruction or end judgment to the AGV device.

[0065] Preferably, if it is determined that the AGV device has added a charging task;

[0066] (b1) determining whether the power level of the AGV device is higher than a preset minimum power level. If so, proceed to step (b2); otherwise, terminate the determination.

[0067] (b2) Determine whether the AGV has a minimum charging time requirement. If not, proceed to step (b3). If yes, calculate the expected charging time t of the AGV and determine whether the expected charging time t is greater than the minimum charging time. If not, end the determination. Otherwise, proceed to step (b3).

[0068] (b3) determining whether the AGV has a task, if not, proceeding to step (b4), if yes, sending a charge end instruction to the AGV device;

[0069] (b4) determining whether there is a task to be assigned in the scheduling system, if so, proceeding to step (b5), otherwise, ending the determination;

[0070] (b5) Determine whether the AGV is consistent with the AGV device type required to execute the task to be assigned in the scheduling system. If so, send a charge end instruction to the AGV device; otherwise, end the determination.

[0071] The beneficial effects of the above steps are:

[0072] (1) Because some AGV devices may be assigned charging tasks during the periodic operation of this method, it is necessary to consider whether the AGV devices that have been assigned charging tasks can continue to perform the charging tasks. For AGV devices that do not need to continue to perform charging tasks, the system sends a charging end instruction to cancel their charging tasks, so that they can be classified as AGV devices that have not been assigned charging tasks for subsequent management;

[0073] (2) In (b1) of this process, AGV devices with power lower than the preset minimum power value can continue to perform the charging task; since the charging of AGV devices will take some time, and one charging point can only add one charging task (charging one AGV device), when considering whether the AGV device needs to continue to perform the charging task, it is necessary to consider the minimum charging time requirement of the AGV. In (b2) of this process, it is determined whether the estimated charging time t of the AGV device is greater than the shortest charging time. The estimated charging time t is not greater than (less than or equal to) the shortest charging time (the estimated charging time t can be charged to the preset value). AGV devices with a fixed power level (a certain amount of power) can continue to perform charging tasks. The setting of the estimated charging time t prevents the charging task from being interrupted after the AGV device receives a transportation task after the charging task is sent, thereby increasing the time for empty travel to the charging point. In order to prevent the AGV device from delaying the execution of other transportation tasks due to the execution of the charging task (the execution level of the charging task is higher than that of the transportation task), in (b3) to (b5) of this process, for AGV devices whose energy value has not reached the preset minimum power value, they are allowed to continue to perform the transportation task first, so that the power of the AGV device remains stable while being able to adjust according to the current task volume.

[0074] Preferably, if it is determined that the charging device allows AGV equipment that meets the charging conditions to enter, the scheduling system dispatches a charging task to the AGV equipment that meets the charging conditions.

[0075] Preferably, when an AGV device that meets the charging conditions does not receive a new task request after completing a transportation task for h seconds, the scheduling system dispatches a charging task to the AGV device that meets the charging conditions, where 0<h≤600.

[0076] The above setting method can prevent the AGV equipment from being assigned to perform charging tasks too quickly when there are continuous tasks in the scheduling system, resulting in the inability to continuously execute the transportation task. As a result, the AGV equipment that is closest to the transportation task execution point is sent to charge, and another AGV equipment needs to be dispatched to perform the transportation task, affecting the execution efficiency of the task.

[0077] The above-mentioned intelligent charging management method is executed periodically, and a new round of calculation is executed after the end is determined in any step or the scheduling system issues a charging task.

[0078] The preset minimum power value is less than the preset charging power value.

[0079] Compared with the prior art, the intelligent management charging method of multiple AGVs in a system of the present invention has the following beneficial effects:

[0080] (1) In the present invention, all charging strategies and AGV devices that adopt corresponding charging strategies are first obtained, and then, according to whether the AGV device is assigned a charging task (AGV devices that adopt corresponding charging strategies will be assigned a charging task when the preset charging value of the charging strategy is triggered, so some AGV devices may be assigned a charging task during the periodic operation of this method. For AGV devices that have been assigned a charging task, in order to avoid affecting the current operating status of these AGV devices, they need to be processed separately), the AGV devices that have not been assigned a charging task are screened out, and then the charging arrangements for these AGV devices that have not been assigned a charging task are uniformly made, thereby taking into account the existence of multiple types of AGVs and multiple charging strategies in the system, integrating the multiple charging strategies in the system, and managing all AGV devices that have not been assigned a charging task under different charging strategies, avoiding confusion in the charging management in the system, improving the operating efficiency of the system, and having a wider applicability;

[0081] (2) In the method of the present invention, AGV devices that adopt the same charging strategy are sorted, and all AGV devices are judged whether they meet the charging conditions, so that the charging conditions of AGV devices with low power are judged first when they can be charged, thereby avoiding the AGV devices with low power stopping working and delaying the execution of tasks, thereby reducing work efficiency.

[0082] Embodiment 2

[0083] This embodiment is an improved solution of the first embodiment, and is different from the first embodiment in that:

[0084] In step (a3), if it is determined that there is an AGV device in the charging device that can complete the charging task, it is sorted from high to low according to the power value to form a set K, and the scheduling system task query is performed on the AGV devices in set K in turn to query whether the scheduling system currently has a pending task that is specified for the AGV device to execute, or to query the scheduling system whether there is a pending task that is not specified for AGV device to execute but the AGV model required for the task is consistent with the type of AGV device. If there is (any of the above conditions is judged to be yes), a charging task end instruction is sent to the corresponding AGV device; otherwise (the above two conditions are judged to be no), the AGV device that executes the judgment continues to execute the charging task, and the above judgment is performed on the next AGV device in set K.

[0085] Since the power value of the AGV equipment that can complete the charging task has reached the level for normal operation, after sorting the AGV equipment that can complete the charging task according to the power value, the AGV equipment with relatively higher power value among the same type of AGVs being charged can be given priority to execute whether the scheduling system currently has pending tasks designated for the AGV equipment to execute, or query the scheduling system whether there are currently pending tasks that are not designated for AGV equipment to execute but the AGV model required for the task is consistent with the AGV equipment type, thereby improving production efficiency.

[0086] Embodiment 3

[0087] Due to the differences in specifications of charging interfaces and / or charging devices of different models of AGV equipment, some AGV equipment can only be adapted to specified types of charging devices (fixed charging points). Taking the above situation into consideration, this embodiment, on the basis of Embodiment 1 and Embodiment 2, adds consideration to the situation where the AGV equipment is limited to be adapted to specified types of charging devices.

[0088] See also Figure 2 In this implementation, for the case where the AGV equipment is limited to adapt to a specified type of charging device, the following judgment content is added:

[0089] Determine whether the charging device allows the AGV equipment that meets the charging conditions to enter. If not, end the judgment; if allowed, determine whether the charging device allowed to enter is consistent with the specified type of charging device that the AGV equipment is limited to adapt to. If they are consistent, control the AGV equipment that meets the charging conditions to enter the charging device for charging, otherwise, end the judgment.

[0090] Add the consideration of "determining whether the charging device allowed to enter is consistent with the specified type of charging device that the AGV equipment is limited to adapt to". When the charging device allowed to enter is consistent with the specified type of charging device that the AGV equipment is limited to adapt to, the AGV equipment that is limited to adapt to the specified type of charging device can perform the charging task.

[0091] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention.

Claims

1. The intelligent management charging method of multiple AGVs in the system includes the following steps: Read all charging strategies in the system; Determine the charging strategy adopted by all AGV devices in the system; Query n charging strategies in turn, and sort the AGV devices using the same charging strategy from low to high according to the power to form a power sorting set En, where n represents the number of the charging strategy; For all AGV devices in the n power sorting set En, determine in turn whether the AGV devices have loaded the charging task, and filter out the AGV devices that have not loaded the charging task; The charging conditions of the AGV devices that have not been loaded with charging tasks are judged, and the AGV devices that meet the charging conditions are selected; Determine whether the charging device allows the AGV device that meets the charging conditions to enter. If allowed, control the AGV device that meets the charging conditions to enter the charging device for charging. Otherwise, end the determination; The steps to determine whether the AGV device has loaded the charging task are as follows: Determine whether the AGV device has added a charging task. If not, mark the AGV device as an AGV device that has not loaded a charging task. If so, send an end charging instruction or end judgment to the AGV device; If it is determined that the AGV device has added a charging task; (b1) determining whether the power level of the AGV device is higher than a preset minimum power level. If so, proceed to step (b2); otherwise, terminate the determination. (b2) Determine whether the AGV has a minimum charging time requirement. If not, proceed to step (b3). If yes, calculate the expected charging time t of the AGV and determine whether the expected charging time t is greater than the minimum charging time. If not, end the determination. Otherwise, proceed to step (b3). (b3) determining whether the AGV has a task, if not, proceeding to step (b4), if yes, sending a charge end instruction to the AGV device; (b4) determining whether there is a task to be assigned in the scheduling system, if so, proceeding to step (b5), otherwise, ending the determination; (b5) Determine whether the AGV is consistent with the AGV device type required to execute the task to be assigned in the scheduling system. If so, send a charge end instruction to the AGV device; otherwise, end the determination.

2. The intelligent management charging method for multiple AGVs in a system according to claim 1 is characterized in that: The steps for determining whether an AGV device that meets the charging conditions is allowed to enter the charging device are: (a1) Determine whether there is an empty space in the charging device. If so, add a charging task to the AGV device that meets the charging conditions, and the AGV device enters the charging device for charging; otherwise, proceed to step (a2); (a2) determining whether the power level of the AGV device that meets the charging conditions is lower than a preset minimum power level. If so, proceed to step (a3); otherwise, terminate the determination. (a3) Determine whether there is an AGV device in the charging device that can complete the charging task. If so, add a charging task to the AGV device that meets the charging conditions; otherwise, end the determination.

3. The intelligent management charging method for multiple AGVs in a system according to claim 2 is characterized in that: In step (a3), if it is determined that there is an AGV device in the charging device that can end the charging task, a charging task end instruction is sent to the AGV device that can end the charging task.

4. The intelligent management charging method for multiple AGVs in a system according to claim 2, characterized in that: If it is determined that there is an AGV device in the charging device that can complete the charging task, it is sorted from high to low according to the power value to form a set K, and the scheduling system task query is performed on the AGV devices in set K in turn to query whether the scheduling system currently has a pending task designated for the AGV device to execute, or to query the scheduling system whether there is a pending task that is not executed by a designated AGV device but the AGV model required for the task is consistent with the type of the AGV device. If so, a charging task end instruction is sent to the corresponding AGV device, otherwise, the above judgment is performed on the next AGV device in set K.

5. The intelligent management and charging method for multiple AGVs in a system according to claim 1, characterized in that: The steps to determine the charging conditions are: Determine whether the AGV device is lower than a preset charging power value. If so, determine that the AGV device meets the charging conditions. Otherwise, end the determination.

6. The intelligent management and charging method for multiple AGVs in a system according to claim 1, characterized in that: For the case where the AGV equipment is limited to adapting to a specific type of charging device; Determine whether the charging device allows the AGV equipment that meets the charging conditions to enter. If not, end the judgment; if allowed, determine whether the charging device allowed to enter is consistent with the specified type of charging device that the AGV equipment is limited to adapt to. If they are consistent, control the AGV equipment that meets the charging conditions to enter the charging device for charging, otherwise, end the judgment.

7. The intelligent management and charging method for multiple AGVs in a system according to claim 1, characterized in that: If it is determined that the charging device allows AGV equipment that meets the charging conditions to enter, the scheduling system will dispatch charging tasks to the AGV equipment that meets the charging conditions.

8. The intelligent management and charging method for multiple AGVs in a system according to claim 7, characterized in that: When an AGV device that meets the charging conditions completes a transportation task and does not receive a new task request after h seconds, the scheduling system dispatches a charging task to the AGV device that meets the charging conditions, where 0<h≤600.

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